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#pragma once

#include <eigen3/Eigen/Eigen>
#include <kdl/rotational_interpolation_sa.hpp>
#include <moveit/planning_scene/planning_scene.hpp>

#include <pilz_industrial_motion_planner/trajectory_generator.hpp>
#include <pilz_industrial_motion_planner/velocity_profile_atrap.hpp>

namespace pilz_industrial_motion_planner
{
// TODO date type of units

CREATE_MOVEIT_ERROR_CODE_EXCEPTION(LinTrajectoryConversionFailure, moveit_msgs::msg::MoveItErrorCodes::FAILURE);

CREATE_MOVEIT_ERROR_CODE_EXCEPTION(JointNumberMismatch, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(LinInverseForGoalIncalculable, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoWaypointsSpecified, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(ConsicutiveColinearWaypoints,
                                   moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);

/**
 * @brief This class implements a polyline trajectory generator in Cartesian
 * space.
 * The Cartesian trajetory are based on trapezoid velocity profile.
 */
class TrajectoryGeneratorPolyline : public TrajectoryGenerator
{
public:
  /**
   * @brief Constructor of Polyline Trajectory Generator
   * @throw TrajectoryGeneratorInvalidLimitsException
   * @param model: robot model
   * @param planner_limits: limits in joint and Cartesian spaces
   */
  TrajectoryGeneratorPolyline(const moveit::core::RobotModelConstPtr& robot_model,
                              const pilz_industrial_motion_planner::LimitsContainer& planner_limits,
                              const std::string& group_name);

private:
  void cmdSpecificRequestValidation(const planning_interface::MotionPlanRequest& req) const override;

  void extractMotionPlanInfo(const planning_scene::PlanningSceneConstPtr& scene,
                             const planning_interface::MotionPlanRequest& req, MotionPlanInfo& info) const final;

  void plan(const planning_scene::PlanningSceneConstPtr& scene, const planning_interface::MotionPlanRequest& req,
            const MotionPlanInfo& plan_info, double sampling_time,
            trajectory_msgs::msg::JointTrajectory& joint_trajectory) override;

  /**
   * @brief construct a KDL::Path object for a Cartesian polyline path
   * @param start_pose: start pose of the path
   * @param waypoints: waypoints defining the path
   * @param smoothness_level: smoothness level for blending the waypoints
   * @return a unique pointer of the path object. null_ptr in case of an error.
   */
  std::unique_ptr<KDL::Path> setPathPolyline(const Eigen::Affine3d& start_pose,
                                             const std::vector<Eigen::Isometry3d>& waypoints,
                                             double smoothness_level) const;
};

}  // namespace pilz_industrial_motion_planner
